90 lines
3.1 KiB
C
90 lines
3.1 KiB
C
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/**
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* test_time_limit.h
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* =============================================================================
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* Copyright 2021-2023 Serhii Snitsaruk
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*
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* Use of this source code is governed by an MIT-style
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* license that can be found in the LICENSE file or at
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* https://opensource.org/licenses/MIT.
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* =============================================================================
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*/
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#ifndef TEST_TIME_LIMIT_H
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#define TEST_TIME_LIMIT_H
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#include "limbo_test.h"
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#include "modules/limboai/bt/tasks/bt_task.h"
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#include "modules/limboai/bt/tasks/decorators/bt_time_limit.h"
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namespace TestTimeLimit {
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TEST_CASE("[Modules][LimboAI] BTTimeLimit") {
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Ref<BTTimeLimit> lim = memnew(BTTimeLimit);
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SUBCASE("When empty") {
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ERR_PRINT_OFF;
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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ERR_PRINT_ON;
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}
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Ref<BTTestAction> task = memnew(BTTestAction);
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lim->add_child(task);
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lim->set_time_limit(1.0);
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SUBCASE("With a long-running task") {
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task->ret_status = BTTask::RUNNING;
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CHECK(lim->execute(0.0) == BTTask::RUNNING); // * elapsed 0.0
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 1, 0); // * running
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CHECK(lim->execute(0.4) == BTTask::RUNNING); // * elapsed 0.4
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 2, 0); // * running
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CHECK(lim->execute(0.4) == BTTask::RUNNING); // * elapsed 0.8
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 3, 0); // * running
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SUBCASE("When exceeding the time limit") {
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CHECK(lim->execute(0.4) == BTTask::FAILURE); // * elapsed 1.2
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FRESH, 1, 4, 1); // * cancelled & exited
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}
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SUBCASE("When finishing on time") {
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.1) == BTTask::SUCCESS); // * elapsed 0.9
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 4, 1); // * succeeded & exited
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}
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}
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SUBCASE("With a quick task") {
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.01666) == BTTask::SUCCESS);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 1, 1, 1); // * succeeded
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task->ret_status = BTTask::FAILURE;
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CHECK(lim->execute(0.01666) == BTTask::FAILURE);
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FAILURE, 2, 2, 2); // * failed
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}
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SUBCASE("If time limit is reset") {
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task->ret_status = BTTask::RUNNING;
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CHECK(lim->execute(0.0) == BTTask::RUNNING); // * elapsed 0.0
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 1, 1, 0); // * running
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CHECK(lim->execute(1.1) == BTTask::FAILURE); // * elapsed 1.1
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::FRESH, 1, 2, 1); // * cancelled due to time limit exceeded
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CHECK(lim->execute(0.0) == BTTask::RUNNING); // * elapsed 0.0
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 2, 3, 1); // * running
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CHECK(lim->execute(0.8) == BTTask::RUNNING); // * elapsed 0.8
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::RUNNING, 2, 4, 1); // * running
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task->ret_status = BTTask::SUCCESS;
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CHECK(lim->execute(0.8) == BTTask::SUCCESS); // * elapsed 1.6
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CHECK_STATUS_ENTRIES_TICKS_EXITS(task, BTTask::SUCCESS, 2, 5, 2); // * succeeded, despite time limit exceeded
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}
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}
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} //namespace TestTimeLimit
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#endif // TEST_TIME_LIMIT_H
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